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Thomas Pitiot
SocialAgents3D
Commits
62820091
Commit
62820091
authored
Oct 19, 2012
by
pitiot
Browse files
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ajout corridor
parent
9a25743a
Changes
11
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11 changed files
with
765 additions
and
1479 deletions
+765
-1479
include/env_generator.hpp
include/env_generator.hpp
+1
-1
include/env_map.h
include/env_map.h
+75
-200
include/moving_obstacle.h
include/moving_obstacle.h
+3
-25
include/obstacle.h
include/obstacle.h
+12
-11
include/simulator.h
include/simulator.h
+26
-23
include/viewer.h
include/viewer.h
+5
-1
src/agent.cpp
src/agent.cpp
+10
-10
src/env_map.cpp
src/env_map.cpp
+78
-153
src/moving_obstacle.cpp
src/moving_obstacle.cpp
+304
-660
src/simulator.cpp
src/simulator.cpp
+204
-346
src/viewer.cpp
src/viewer.cpp
+47
-49
No files found.
include/env_generator.hpp
View file @
62820091
...
...
@@ -281,7 +281,7 @@ Dart generateBuilding(EnvMap* envMap, Dart d, float height, unsigned int buildin
Dart
next
=
map
.
phi1
(
dd
);
Dart
previous
=
map
.
phi_1
(
dd
);
Obstacle
*
o
=
new
Obstacle
(
position
[
dd
],
position
[
next
],
position
[
previous
],
position
[
map
.
phi1
(
next
)]);
Obstacle
*
o
=
new
Obstacle
(
position
[
dd
],
position
[
next
],
position
[
previous
],
position
[
map
.
phi1
(
next
)]
,
NULL
,
0
);
#ifdef SPATIAL_HASHING
VEC3
ov
=
o
->
p2
-
o
->
p1
;
...
...
include/env_map.h
View file @
62820091
...
...
@@ -32,8 +32,8 @@ class MovingObstacle;
struct
PFP
:
public
PFP_STANDARD
{
// definition de la carte
// typedef EmbeddedMap2 MAP;
typedef
Algo
::
IHM
::
ImplicitHierarchicalMap
MAP
;
// typedef EmbeddedMap2 MAP;
typedef
Algo
::
IHM
::
ImplicitHierarchicalMap
MAP
;
// definition des listes d'agent
typedef
std
::
vector
<
Agent
*>
AGENTS
;
...
...
@@ -49,13 +49,27 @@ struct PFP: public PFP_STANDARD
};
typedef
PFP
::
VEC3
VEC3
;
typedef
PFP
::
REAL
REAL
;
class
EnvMap
{
public
:
EnvMap
();
void
markPedWay
();
/* Geometry of the EnvMap : the bounding box of the scene
* The density of cells in the EnvMap is given by two parameters :
* - minCellSize : the size under which no subdivision occurs
* - maxCellSize : the size of the initial cells (before subdivisions occur)
* - obstacleDistance : the minimal goal distance between agents and obstacles
* The number of cells in the initial EnvMap is about (width*height)/(size*size)
*/
Geom
::
BoundingBox
<
VEC3
>
geometry
;
REAL
maxCellSize
;
REAL
minCellSize
;
REAL
obstacleDistance
;
void
markPedWay
()
;
float
max_for_obstacles
;
float
sideSize
;
unsigned
int
nbSquares
;
...
...
@@ -69,7 +83,7 @@ public :
void
subdivideToProperLevel
();
#endif
void
init
(
unsigned
int
config
)
;
void
init
(
unsigned
int
config
,
REAL
width
,
REAL
height
,
REAL
minSize
,
REAL
maxSize
)
;
#ifndef SPATIAL_HASHING
void
foreach_neighborFace
(
Dart
d
,
FunctorType
&
f
);
...
...
@@ -82,7 +96,7 @@ public :
void
pushAgentInCells
(
Agent
*
agent
,
Dart
d
);
void
popAgentInCells
(
Agent
*
agent
,
Dart
d
);
// void agentChangeFaceThroughEdge(Agent* agent);
// void agentChangeFaceThroughEdge(Agent* agent);
void
agentChangeFace
(
Agent
*
agent
,
Dart
oldFace
);
void
pushObstacleInCells
(
Obstacle
*
o
,
Dart
d
);
...
...
@@ -90,15 +104,15 @@ public :
void
obstacleChangeFace
(
Obstacle
*
agent
,
Dart
newFace
,
Dart
oldFace
);
//ajout moving obst
void
addObstAsNeighbor
(
Obstacle
*
o
,
std
::
list
<
Dart
>
belonging_cells
,
std
::
list
<
Dart
>
*
nieghbor_cells
);
// void addMovingObstAsNeighbor (MovingObstacle * mo,std::list<Dart> belonging_cells, std::list<Dart> *neighbor_cells);
void
pushObstNeighborInCells
(
Obstacle
*
o
,
Dart
d
);
void
popObstNeighborInCells
(
Obstacle
*
o
,
Dart
d
);
void
find_next
(
Obstacle
*
o
,
Dart
*
d
);
void
addObstAsNeighbor
(
Obstacle
*
o
,
const
std
::
list
<
Dart
>&
belonging_cells
,
std
::
list
<
Dart
>
*
nieghbor_cells
);
// void addMovingObstAsNeighbor (MovingObstacle * mo,std::list<Dart> belonging_cells, std::list<Dart> *neighbor_cells);
void
pushObstNeighborInCells
(
Obstacle
*
o
,
Dart
d
);
void
popObstNeighborInCells
(
Obstacle
*
o
,
Dart
d
);
void
find_next
(
Obstacle
*
o
,
Dart
*
d
,
CellMarkerStore
<
FACE
>&
cms
);
void
clearUpdateCandidates
();
void
clearUpdateCandidates
();
void
updateMap
();
void
resetAgentInFace
(
Agent
*
agent
);
...
...
@@ -130,8 +144,6 @@ public :
CellMarker
<
EDGE
>
obstacleMark
;
CellMarker
<
FACE
>
buildingMark
;
CellMarker
<
FACE
>
pedWayMark
;
CellMarker
<
FACE
>
MovingObstMark
;
CellMarker
<
FACE
>
OneRingMark
;
#ifndef SPATIAL_HASHING
static
const
unsigned
int
nbAgentsToSubdivide
=
5
;
...
...
@@ -177,8 +189,8 @@ void resetPart(MovingObstacle * mo, Dart d);
void
displayMO
(
Obstacle
*
o
);
/**************************************
* INLINE FUNCTIONS *
**************************************/
* INLINE FUNCTIONS *
**************************************/
template
<
typename
T
>
inline
void
removeElementFromVector
(
std
::
vector
<
T
>&
a
,
T
ag
)
...
...
@@ -200,7 +212,7 @@ inline void EnvMap::pushAgentInCells(Agent* agent, Dart d)
{
assert
(
map
.
getCurrentLevel
()
==
map
.
getMaxLevel
());
assert
(
std
::
find
(
agentvect
[
d
].
begin
(),
agentvect
[
d
].
end
(),
agent
)
==
agentvect
[
d
].
end
());
agentvect
[
d
].
push_back
(
agent
);
Dart
dd
=
d
;
...
...
@@ -238,181 +250,121 @@ inline void EnvMap::popAgentInCells(Agent* agent, Dart d)
//ajout moving obst///////////////////////////////////////////////////////////////////////////////////////////////////////
// addobstasneighbor
inline
void
EnvMap
::
addObstAsNeighbor
(
Obstacle
*
o
,
std
::
list
<
Dart
>
belonging_cells
,
std
::
list
<
Dart
>
*
neighbor_cells
)
inline
void
EnvMap
::
addObstAsNeighbor
(
Obstacle
*
o
,
const
std
::
list
<
Dart
>&
belonging_cells
,
std
::
list
<
Dart
>
*
neighbor_cells
)
{
assert
(
map
.
getCurrentLevel
()
==
map
.
getMaxLevel
());
(
*
neighbor_cells
).
clear
();
MovingObstMark
.
unmarkAll
();
OneRingMark
.
unmarkAll
();
for
(
std
::
list
<
Dart
>::
iterator
it
=
belonging_cells
.
begin
();
it
!=
belonging_cells
.
end
();
++
it
)
neighbor_cells
->
clear
();
CellMarkerStore
<
FACE
>
MovingObstMark
(
map
);
CellMarkerStore
<
FACE
>
OneRingMark
(
map
);
for
(
std
::
list
<
Dart
>::
const_iterator
it
=
belonging_cells
.
begin
();
it
!=
belonging_cells
.
end
();
++
it
)
{
MovingObstMark
.
mark
(
*
it
);
}
std
::
list
<
Dart
>::
iterator
it
=
belonging_cells
.
begin
();
std
::
list
<
Dart
>::
const_iterator
it
=
belonging_cells
.
begin
();
Dart
beg
=
NIL
;
Dart
first
=
NIL
;
Dart
d
=
NIL
;
Dart
dd
=
NIL
;
int
rd1
=
0
,
rd2
=
0
,
rd3
=
0
;
// CGoGNout << "debut"<<CGoGNendl;
//boucle pour trouver la premiere case
do
{
rd3
++
;
if
(
rd3
>
10000
)
{
CGoGNout
<<
"infini dans addneighbor obst rd3"
<<
CGoGNendl
;
break
;
}
// CGoGNout << "debut"<<CGoGNendl;
//boucle pour trouver une face du voisinage de l'obstacle ne contenant pas l'obstacle
do
{
beg
=
*
it
;
first
=
NIL
;
d
=
beg
;
// CGoGNout << "d = "<<d<<CGoGNendl;
do
{
// CGoGNout << "first = "<<first<<CGoGNendl;
if
(
rd2
>
10000
)
{
CGoGNout
<<
"infini dans addneighbor obst rd2"
<<
CGoGNendl
;
break
;
}
do
{
dd
=
map
.
alpha1
(
map
.
alpha1
(
d
));
do
{
if
(
rd1
>
10000
)
{
CGoGNout
<<
"infini dans addneighbor obst rd1"
<<
CGoGNendl
;
break
;
}
if
(
!
MovingObstMark
.
isMarked
(
dd
))
{
first
=
dd
;
// CGoGNout << "dd1 = "<<first<<CGoGNendl;
}
dd
=
map
.
alpha1
(
dd
);
rd1
++
;
}
while
(
dd
!=
d
&&
first
==
NIL
);
// CGoGNout << "dd = "<<dd<<CGoGNendl;
}
while
(
first
==
NIL
&&
dd
!=
d
);
d
=
map
.
phi1
(
d
);
rd2
++
;
// CGoGNout << "d2 = "<<d<<" beg = "<< beg<<CGoGNendl;
}
while
(
first
==
NIL
&&
d
!=
beg
);
}
while
(
first
==
NIL
&&
d
!=
beg
);
++
it
;
}
while
((
it
!=
belonging_cells
.
end
())
&&
first
==
NIL
);
// CGoGNout << "debut2 : first : "<<first <<CGoGNendl;
// CGoGNout << "coucou je suis la2 et " << "first = "<< first << " et est ce un obstacle ?"<< MovingObstMark.isMarked(first)<< CGoGNendl;
int
round
=
0
;
}
while
(
first
==
NIL
&&
it
!=
belonging_cells
.
end
());
d
=
first
;
// int tour =0;
do
{
// CGoGNout << "d = "<< d <<CGoGNendl;
do
{
if
(
!
OneRingMark
.
isMarked
(
d
))
{
{
OneRingMark
.
mark
(
d
);
(
*
neighbor_cells
).
push_back
(
d
);
// CGoGNout << "Dart marquée : "<< d<< CGoGNendl;
}
find_next
(
o
,
&
d
);
round
++
;
// CGoGNout << "Dart suivante : "<< d<< CGoGNendl;
// tour++;
if
(
round
>
10000
)
{
CGoGNout
<<
"infini calcul voisins"
<<
CGoGNendl
;
break
;
}
}
while
(
!
map
.
sameFace
(
d
,
first
));
// CGoGNout << "fin"<<CGoGNendl;
// Dart dd = belonging_cells[0];
// do
// {
// Dart ddd = map.alpha1(map.alpha1(dd));
// while(ddd != dd)
// {
// removeElementFromVector<Agent* >(neighborAgentvect[ddd], agent);
// ddd = map.alpha1(ddd);
// }
// dd = map.phi1(dd);
// } while(dd != d);
//
find_next
(
o
,
&
d
,
MovingObstMark
);
}
while
(
!
map
.
sameFace
(
d
,
first
));
}
// find_next cherche la prochaine case "voisine" d'un obstacle faisant parti d'un movingobstacle (algo de parcours du one-ring )
inline
void
EnvMap
::
find_next
(
Obstacle
*
o
,
Dart
*
ddd
)
inline
void
EnvMap
::
find_next
(
Obstacle
*
o
,
Dart
*
ddd
,
CellMarkerStore
<
FACE
>&
cms
)
{
Dart
d
=*
ddd
;
Dart
first
=
NIL
;
Dart
dd
;
int
rd
=
0
;
do
{
rd
++
;
dd
=
map
.
alpha1
((
d
));
if
(
!
(
MovingObstMark
.
isMarked
(
dd
)))
{
first
=
dd
;
}
rd
++
;
dd
=
map
.
alpha1
((
d
));
if
(
!
(
cms
.
isMarked
(
dd
)))
{
first
=
dd
;
}
d
=
map
.
phi_1
(
d
);
if
(
rd
>
10000
)
{
displayMO
(
o
);
CGoGNout
<<
(
first
==
NIL
)
<<
" infini find next : "
<<
*
ddd
<<
CGoGNendl
;
break
;
}
}
while
(
first
==
NIL
);
d
=
map
.
phi_1
(
d
);
if
(
rd
>
10000
)
{
displayMO
(
o
);
CGoGNout
<<
(
first
==
NIL
)
<<
" infini find next : "
<<
*
ddd
<<
CGoGNendl
;
break
;
}
}
while
(
first
==
NIL
);
*
ddd
=
first
;
}
inline
void
EnvMap
::
pushObstNeighborInCells
(
Obstacle
*
o
,
Dart
d
)
{
assert
(
map
.
getCurrentLevel
()
==
map
.
getMaxLevel
());
assert
(
std
::
find
(
neighborObstvect
[
d
].
begin
(),
neighborObstvect
[
d
].
end
(),
o
)
==
neighborObstvect
[
d
].
end
());
neighborObstvect
[
d
].
push_back
(
o
);
neighborObstvect
[
d
].
push_back
(
o
);
}
inline
void
EnvMap
::
popObstNeighborInCells
(
Obstacle
*
o
,
Dart
d
)
{
assert
(
map
.
getCurrentLevel
()
==
map
.
getMaxLevel
());
assert
(
std
::
find
(
neighborObstvect
[
d
].
begin
(),
neighborObstvect
[
d
].
end
(),
o
)
!=
neighborObstvect
[
d
].
end
());
removeElementFromVector
<
Obstacle
*
>
(
neighborObstvect
[
d
],
o
);
removeElementFromVector
<
Obstacle
*
>
(
neighborObstvect
[
d
],
o
);
}
inline
void
EnvMap
::
pushObstacleInCells
(
Obstacle
*
o
,
Dart
d
)
{
assert
(
map
.
getCurrentLevel
()
==
map
.
getMaxLevel
());
assert
(
std
::
find
(
obstvect
[
d
].
begin
(),
obstvect
[
d
].
end
(),
o
)
==
obstvect
[
d
].
end
());
obstvect
[
d
].
push_back
(
o
);
}
inline
void
EnvMap
::
popObstacleInCells
(
Obstacle
*
o
,
Dart
d
)
{
assert
(
map
.
getCurrentLevel
()
==
map
.
getMaxLevel
());
assert
(
std
::
find
(
obstvect
[
d
].
begin
(),
obstvect
[
d
].
end
(),
o
)
!=
obstvect
[
d
].
end
());
removeElementFromVector
<
Obstacle
*
>
(
obstvect
[
d
],
o
);
// removeElementFromVector<Obstacle* >(obstvect[map.phi<12>(d)],o);
// removeElementFromVector<Obstacle* >(obstvect[map.phi2(map.phi_1(d))],o);
// Dart dd = d;
// do
// {
// Dart ddd = map.alpha1(map.alpha1(dd));
// while(ddd != dd)
// {
// removeElementFromVector<Obstacle* >(obstvect[ddd], o);
// ddd = map.alpha1(ddd);
// }
// dd = map.phi1(dd);
// } while(dd != d);
}
inline
void
EnvMap
::
clearUpdateCandidates
()
...
...
@@ -422,83 +374,6 @@ inline void EnvMap::clearUpdateCandidates()
}
///addMovingObstAsNeighbor est pour détecter les voisins du movingobstacle global afin de le considerer comme un super agent
//inline void EnvMap::addMovingObstAsNeighbor (MovingObstacle * mo,std::list<Dart> belonging_cells, std::list<Dart> *neighbor_cells)
//{
// assert(map.getCurrentLevel() == map.getMaxLevel());
// (*neighbor_cells).clear();
// MovingObstMark.unmarkAll();
// OneRingMark.unmarkAll();
//
// for(std::list<Dart>::iterator it= belonging_cells.begin();it!=belonging_cells.end();++it)
//
// {
// MovingObstMark.mark(*it);
// }
//
//
// std::list<Dart>::iterator it=belonging_cells.begin();
// Dart beg = NIL;
// Dart first =NIL;
// Dart d=NIL;
// Dart dd=NIL;
// //boucle pour trouver la premiere case
// do {
// beg = *it;
// first = NIL;
// d=beg;
//
// do{
//
// dd=map.alpha1(map.alpha1(d));
// do {
//
// if (!MovingObstMark.isMarked(dd))
// {
// first = dd;
// }
// dd=map.alpha1(dd);
// }while (dd!=d && first==NIL);
// d=map.phi1(d);
// }while(first==NIL);
// ++it;
// }while((it!=belonging_cells.end())&&first==NIL);
//
//// CGoGNout << "coucou je suis la2 et " << "first = "<< first << " et est ce un obstacle ?"<< MovingObstMark.isMarked(first)<< CGoGNendl;
//
// d=first;
//// int tour =0;
// do{
// if (!OneRingMark.isMarked(d))
// {
// OneRingMark.mark(d);
// (*neighbor_cells).push_back(d);
//// CGoGNout << "Dart marquée : "<< d<< CGoGNendl;
//
// }
//
// find_next(mo->obstacles_[0],&d);
//// CGoGNout << "Dart suivante : "<< d<< CGoGNendl;
//// tour++;
//// if(tour==20) break;
// }while(!map.sameFace(d,first));
//
//
//// Dart dd = belonging_cells[0];
//// do
//// {
//// Dart ddd = map.alpha1(map.alpha1(dd));
//// while(ddd != dd)
//// {
//// removeElementFromVector<Agent* >(neighborAgentvect[ddd], agent);
//// ddd = map.alpha1(ddd);
//// }
//// dd = map.phi1(dd);
//// } while(dd != d);
////
//
//}
#endif
#endif
include/moving_obstacle.h
View file @
62820091
...
...
@@ -10,41 +10,20 @@
using
namespace
std
;
PFP
::
VEC3
rotate
(
PFP
::
VEC3
pos1
,
PFP
::
VEC3
center
,
float
angle
);
float
get_angle
(
PFP
::
VEC3
v1
,
PFP
::
VEC3
v2
);
void
unify
(
std
::
list
<
Dart
>
*
list
,
EnvMap
*
envmap
);
class
MovingObstacle
{
public:
MovingObstacle
(
int
index
,
EnvMap
*
envmap
,
std
::
vector
<
PFP
::
VEC3
>
pos
,
VEC3
goal
,
float
rota
);
bool
test_opposition
(
VEC3
o
,
VEC3
p1
,
VEC3
p2
);
void
updateFixedObstNeighbors
();
void
updateMovingObstNeighbors
();
bool
is_inside
(
VEC3
p
);
void
computePrefVelocity
();
void
computeNewVelocity
();
bool
linearProgram1
(
const
std
::
vector
<
Line
>&
lines
,
unsigned
int
lineNo
,
float
radius
,
const
VEC3
&
optVelocity
,
bool
directionOpt
,
VEC3
&
result
);
unsigned
int
linearProgram2
(
const
std
::
vector
<
Line
>&
lines
,
float
radius
,
const
VEC3
&
optVelocity
,
bool
directionOpt
,
VEC3
&
result
);
void
linearProgram3
(
const
std
::
vector
<
Line
>&
lines
,
unsigned
int
numObstLines
,
unsigned
int
beginLine
,
float
radius
,
VEC3
&
result
);
void
update
();
void
register_
(
Obstacle
*
o
,
Dart
d
,
int
n
);
void
register_oneRingAdd
(
Obstacle
*
o
,
Dart
d
,
int
n
);
void
register_update
(
Obstacle
*
o
,
Dart
d
,
int
n
);
// void difference_list (std::list<Dart> old_, std::list<Dart> new_);
...
...
@@ -61,12 +40,11 @@ public:
std
::
list
<
Dart
>
*
belonging_cells
;
std
::
list
<
Dart
>
*
neighbor_cells
;
std
::
list
<
Dart
>
general_belonging
;
std
::
list
<
Dart
>
general_neighbors
;
//difference entre 2 listes utilisé pour update
// std::list<Dart> * res_diff;
std
::
vector
<
std
::
pair
<
float
,
MovingObstacle
*>
>
M
ovingObstNeighbors_
;
std
::
vector
<
std
::
pair
<
float
,
MovingObstacle
*>
>
m
ovingObstNeighbors_
;
float
rot
;
VEC3
finalGoal
;
...
...
include/obstacle.h
View file @
62820091
...
...
@@ -6,23 +6,24 @@
class
Obstacle
{
public:
Obstacle
(
VEC3
&
point1
,
VEC3
&
point2
,
VEC3
&
prevPoint
,
VEC3
&
nextPoint
)
:
p1
(
point1
),
p2
(
point2
),
prevP
(
prevPoint
),
nextP
(
nextPoint
),
mo
(
NULL
),
index
(
0
)
// Obstacle(VEC3& point1, VEC3& point2, VEC3& prevPoint, VEC3& nextPoint) :
// p1(point1), p2(point2), prevP(prevPoint), nextP(nextPoint), mo(NULL), index(0)
// {
// p1[2] = 0 ;
// p2[2] = 0 ;
// prevP[2] = 0 ;
// nextP[2] = 0 ;
//
// }
Obstacle
(
VEC3
&
point1
,
VEC3
&
point2
,
VEC3
&
prevPoint
,
VEC3
&
nextPoint
,
MovingObstacle
*
moving1
,
int
ind
)
:
p1
(
point1
),
p2
(
point2
),
prevP
(
prevPoint
),
nextP
(
nextPoint
),
mo
(
moving1
),
index
(
ind
)
{
p1
[
2
]
=
0
;
p2
[
2
]
=
0
;
prevP
[
2
]
=
0
;
nextP
[
2
]
=
0
;
}
Obstacle
(
VEC3
&
point1
,
VEC3
&
point2
,
VEC3
&
prevPoint
,
VEC3
&
nextPoint
,
MovingObstacle
*
moving1
,
int
ind
)
:
p1
(
point1
),
p2
(
point2
),
prevP
(
prevPoint
),
nextP
(
nextPoint
),
mo
(
moving1
),
index
(
ind
)
{
p1
[
2
]
=
0
;
p2
[
2
]
=
0
;
prevP
[
2
]
=
0
;
nextP
[
2
]
=
0
;
}
VEC3
p1
;
VEC3
p2
;
VEC3
prevP
;
...
...
include/simulator.h
View file @
62820091
...
...
@@ -16,52 +16,54 @@
class
ThreadUpdateInfo
{
public
:
std
::
vector
<
Agent
*>
ag_
;
unsigned
int
bMin_
;
unsigned
int
bMax_
;
public:
std
::
vector
<
Agent
*>
ag_
;
unsigned
int
bMin_
;
unsigned
int
bMax_
;
// Constructor
ThreadUpdateInfo
(
std
::
vector
<
Agent
*>
agents
,
unsigned
int
bMin
,
unsigned
int
bMax
)
:
bMin_
(
bMin
),
bMax_
(
bMax
)
bMin_
(
bMin
),
bMax_
(
bMax
)
{
ag_
.
insert
(
ag_
.
end
(),
agents
.
begin
()
+
bMin
,
agents
.
begin
()
+
bMax
);
ag_
.
insert
(
ag_
.
end
(),
agents
.
begin
()
+
bMin
,
agents
.
begin
()
+
bMax
)
;
}
// Destructor
~
ThreadUpdateInfo
()
{
}
~
ThreadUpdateInfo
()
{
}
void
run
()
{
// Thread execution stuff goes here
// Thread execution stuff goes here
for
(
unsigned
int
i
=
0
;
i
<
ag_
.
size
();
++
i
)
{
// ag_[i]->updateObstacleNeighbors();
// ag_[i]->updateAgentNeighbors();
ag_
[
i
]
->
computePrefVelocity
();
ag_
[
i
]
->
computeNewVelocity
();
ag_
[
i
]
->
computePrefVelocity
()
;
ag_
[
i
]
->
computeNewVelocity
()
;
}
}
};
}
;
class
ThreadUpdatePos
{
public
:
std
::
vector
<
Agent
*>
ag_
;
unsigned
int
bMin_
;
unsigned
int
bMax_
;
public:
std
::
vector
<
Agent
*>
ag_
;
unsigned
int
bMin_
;
unsigned
int
bMax_
;
// Constructor
ThreadUpdatePos
(
std
::
vector
<
Agent
*>
agents
,
unsigned
int
bMin
,
unsigned
int
bMax
)
:
bMin_
(
bMin
),
bMax_
(
bMax
)
ThreadUpdatePos
(
std
::
vector
<
Agent
*>
agents
,
unsigned
int
bMin
,
unsigned
int
bMax
)
:
bMin_
(
bMin
),
bMax_
(
bMax
)
{
ag_
.
insert
(
ag_
.
end
(),
agents
.
begin
()
+
bMin
,
agents
.
begin
()
+
bMax
)
;
ag_
.
insert
(
ag_
.
end
(),
agents
.
begin
()
+
bMin
,
agents
.
begin
()
+
bMax
)
;
}
// Destructor
~
ThreadUpdatePos
()
{
}
~
ThreadUpdatePos
()
{
}
void
run
()
{
// Thread execution stuff goes here
...
...
@@ -75,7 +77,7 @@ public :
class
Simulator
{
public:
Simulator
();
Simulator
(
int
minSize
);
Simulator
(
float
timeStep
,
float
neighborDist
,
unsigned
int
maxNeighbors
,
...
...
@@ -85,13 +87,14 @@ public:
~
Simulator
();
void
init
(
unsigned
int
config
,
float
dimension
,
bool
enablePathFinding
=
false
)
;
void
init
(
unsigned
int
config
,
int
minSize
,
float
dimension
,
bool
enablePathFinding
=
false
)
;
void
doStep
();
bool
reachedGoal
();
void
setupCircleScenario
(
unsigned
int
nbMaxAgent
);
void
setupCorridorScenario
(
unsigned
int
nbMaxAgent
,
int
nb_obst
);
void
setupCityScenario
(
float
startX
,
float
startY
,
int
nbLines
,
int
nbRank
);
void
setupScenario
(
unsigned
int
nbMaxAgent
);
...
...
include/viewer.h
View file @
62820091
...
...
@@ -23,6 +23,7 @@